A six-degree-of-freedom industrial robot

Abstract

The present invention relates to the technical field of industrial robots, specifically a six-degree-of-freedom industrial robot, which includes a six-axis manipulator, a gripper mounting plate assembly, a suction gripper assembly, a transmission assembly, and a flipping assembly. The execution end of the six-axis manipulator is equipped with a gripper mounting plate assembly. One end of the gripper mounting plate assembly is fixedly installed with a suction gripper assembly, and the other end of the gripper mounting plate assembly is cooperatively installed with a transmission assembly. One end of the transmission assembly is cooperatively installed with a flipping assembly. The flipping assembly provided by the present invention has a support seat of the flipping assembly connected and fixed by a spring. When glazing the interior of porcelain, glazing is carried out by the method of swirling glazing. During the shaking process, the spring amplifies the shaking inertia to reduce the movement amplitude of the robotic arm, thereby improving production efficiency. In addition, after the flipping assembly flips, a tremor effect can be achieved to make the excess material on the inner wall of the porcelain fall off, making the glazing more uniform.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and more specifically, to a six-degree-of-freedom industrial robot. Background Art

[0002] With the development of technology, all walks of life are moving towards mechanized production. The six-degree-of-freedom industrial robot can perfectly simulate human hands to complete operations through program control. For some production processes with higher difficulty, using robots can achieve a higher yield rate and faster speed than manual labor. During the production of ceramic parts, glazing of the blank is required. Traditional glazing is completed manually. When glazing the blank, it is often not possible to complete the glazing in one go. Craftsmen use blowing glaze to supplement the remaining corners of the porcelain. Therefore, if there is a slight mistake during secondary processing, all previous efforts will be wasted, resulting in a waste of time and the production of defective products. When the existing robot glazes, for general parts, dip glazing on the outer surface can be achieved in one go. However, for porcelain devices that require complete glazing, when glazing, there is always a clamping mechanism contacting the glazing surface of the porcelain to fix the porcelain, resulting in differences in glazing between the contact area and other areas. After sintering and forming, there are easily flaws on the glaze surface. Summary of the Invention

[0003] Aiming at the problems in the prior art, the present invention provides a six-degree-of-freedom industrial robot.

[0004] The technical solution adopted by the present invention to solve its technical problems is: a six-degree-of-freedom industrial robot, including a six-axis manipulator, a gripper mounting plate assembly, a suction gripper assembly, a transmission assembly, and a flipping assembly. The execution end of the six-axis manipulator is equipped with a gripper mounting plate assembly. One end of the gripper mounting plate assembly is fixedly installed with a suction gripper assembly, and the other end of the gripper mounting plate assembly is fitted with a transmission assembly. One end of the transmission assembly is fitted with a flipping assembly.

[0005] The flipping assembly includes a rotating shaft B rotatably fitted at one end of the transmission assembly. The other end of the rotating shaft B is fixedly installed with a flipping frame. At one end of the upper end surface of the flipping frame close to the rotating shaft, two air pipe joints are symmetrically arranged. At the middle position of the flipping frame, a plurality of support seats are arranged at equal intervals. The upper end surface of the support seat is fixedly installed with a suction cup B.

[0006] The transmission assembly includes a fixed mounting disc fixed to one end of the gripper mounting plate assembly by bolts. The inner wall of the fixed mounting disc is fixedly installed with a fixed bearing seat B. The fixed bearing seat B is sleeved on the outer wall of the flipping arm rotating shaft. One end of the flipping arm rotating shaft is fixed with a flipping arm assembly by bolts. The inner center position of the flipping arm rotating shaft is provided with a flipping transmission shaft, and one end of the flipping transmission shaft is fitted in the flipping arm assembly. A fixed bearing seat C is fitted on the outer wall of the flipping transmission shaft, and the fixed bearing seat C is fixedly installed on one end surface of the flipping arm assembly.

[0007] Further, the gripper mounting plate assembly includes a gripper mounting plate fixed to the execution end of the six-axis manipulator by bolts. One end of the gripper mounting plate is provided with a mounting groove, and the suction gripper assembly is fixed in the mounting groove. The other end of the gripper mounting plate is fixedly installed with a servo motor, and the output end of the servo motor is fixedly installed with a rotating shaft A. A fixed bearing seat A is fitted on the outer wall of the rotating shaft A. The other end of the rotating shaft A is fixedly installed with a transmission gear, and the transmission gear and the transmission assembly are a matching mechanism.

[0008] Further, the suction gripper assembly includes a support plate A and a support plate B fixed to the mounting groove opened in the gripper mounting plate by bolts at one end. Reinforcing ribs are provided on the lower end surface of the support plate A and the support plate B fixed to one end of the gripper mounting plate. A material taking cylinder is fixedly installed at the middle position of the support plate A, and the output end of the material taking cylinder penetrates through the support plate A and the support plate B. A plurality of linear bearings are equidistantly arranged on the support plate A and the support plate B, and the linear bearings correspondingly arranged on the support plate A and the support plate B are concentric. A material taking rod is slidably fitted in the linear bearings. A suction cup A is adhered to the material taking end of the material taking rod. One end of the material taking cylinder penetrating through the support plate A and the support plate B is fixedly installed with an impregnation cylinder by bolts. The output end of the impregnation cylinder is fixedly installed with a connecting plate. A plurality of material taking rod mounting holes are opened in the connecting plate, and the material taking rod is fitted in the material taking rod mounting holes. Fixed blocks are fixedly installed at the upper and lower ends of the material taking rod mounting holes by bolts, and the fixed blocks are fixedly installed on the outer wall of the material taking rod.

[0009] Further, a sealed cavity A is provided inside the turning frame, and the air pipe joint is connected to the cavity A.

[0010] Further, the support seat includes arc-shaped support plates symmetrically arranged at the middle position of the turning frame. One ends of the symmetrically arranged arc-shaped support plates are connected as a whole by a tension spring A. The other ends of the arc-shaped support plates are connected to the side wall of the turning frame by a tension spring B. A cavity B is provided inside the arc-shaped support plates, and the cavity B is connected to the suction cup B through a round hole opened on the upper end surface of the arc-shaped support plates. An elastic tube is provided between one end of the arc-shaped support plate and the side wall of the turning frame, and the elastic tube communicates the cavity A and the cavity B.

[0011] Further, the turning arm assembly includes a turning arm housing fixed to one end of the turning arm rotating shaft by bolts. One end inside the turning arm housing is rotatably fitted with a rotating shaft through a bearing, and one end of the rotating shaft is fitted with the turning transmission shaft through a flat key. A pulley A is fixedly installed on the outer wall of the rotating shaft. The other end inside the turning arm housing is fitted with a rotating shaft B through a bearing. A pulley B is fixedly installed on the outer wall of the rotating shaft B, and the pulley B and the pulley A are connected by a transmission belt.

[0012] Further, a gear groove is opened on the inner wall of the turning arm rotating shaft, and the gear groove meshes with the transmission gear.

[0013] Furthermore, one end of the flipping transmission shaft is provided with gear teeth, and the gear teeth are meshed with the transmission gear.

[0014] Advantages of the present invention:

[0015] 1: The flipping assembly provided by the present invention has a support base of the flipping assembly connected and fixed by a spring. When glazing the interior of the porcelain, glazing is performed by the swirling glazing method. During the shaking process, the spring amplifies the shaking inertia to reduce the movement amplitude of the robotic arm, thereby improving production efficiency. In addition, after the flipping assembly flips, it can achieve a tremor effect to make the excess material on the inner wall of the porcelain fall, making the glazing more uniform;

[0016] 2: The transmission assembly provided by the present invention is driven by a servo motor. While driving the flipping assembly to move, it provides power for the flipping of the flipping assembly. When the rotating assembly is horizontal, the flipping assembly is in an upward state to receive the porcelain flowing out from the previous station. After the interior glazing is completed, it flips during the process of going to the dipping glazing station to drain the excess material. In this way, multiple processes can be carried out simultaneously, and the degree of automation is higher compared with the traditional glazing robotic arm;

[0017] 3: The suction claw assembly provided by the present invention controls the suction claw assembly by using a cylinder. In cooperation with the flipping assembly and the transmission assembly, the flipping assembly carries the porcelain for swirling glazing on the inner wall, and then flips the porcelain so that the suction claw assembly sucks the bottom of the porcelain, and then dips it in glaze. During the process, the clamping mechanism does not contact the glazed surface after glazing, enabling a single device to complete the glazing of both the inner wall and the outer wall of the porcelain, avoiding the problems that manual glazing cannot complete the glazing of the outer wall of the porcelain at one time and the contact points are unevenly glazed when the robotic arm is fully dipped in glaze. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be further described below with reference to the drawings and embodiments.

[0019] Figure 1 is a perspective view of the overall structure of the present invention;

[0020] Figure 2 is a perspective view of the structure of the hand claw part of the present invention;

[0021] Figure 3 is a perspective view of the flipping assembly of the present invention;

[0022] Figure 4 is the present invention Figure 3 in the cross-sectional view along A-A;

[0023] Figure 5 is a perspective view of the transmission assembly of the present invention;

[0024] Figure 6 is the present invention Figure 5Cross-sectional view of the B-B region;

[0025] Figure 7 is the state diagram before glaze dipping of the present invention.

[0026] In the figure: 1. Six-axis manipulator; 2. Claw mounting plate assembly; 3. Suction claw assembly; 4. Transmission assembly; 5. Flipping assembly; 21. Claw mounting plate; 22. Servo motor; 23. Rotating shaft A; 24. Transmission gear; 25. Fixed bearing seat A; 31. Support plate A; 32. Support plate B; 33. Reinforcing rib; 34. Connecting plate; 35. Material taking cylinder; 36. Material taking rod; 37. Linear bearing; 38. Suction cup A; 39. Immersion cylinder; 41. Fixed mounting disk; 42. Fixed bearing seat B; 43. Flipping arm rotating shaft; 44. Flipping transmission shaft; 45. Fixed bearing seat C; 46. Flipping arm assembly; 51. Flipping frame; 52. Support seat; 53. Suction cup B; 54. Air pipe joint; 55. Rotating shaft B; 521. Arc-shaped support plate; 522. Tensile spring A; 523. Tensile spring B; 524. Elastic tube; 461. Flipping arm housing; 462. Pulley A; 463. Rotating shaft; 464. Transmission belt; 465. Pulley B. Detailed implementation mode

[0027] In order to make the technical means, creative features, achieved purposes and effects of the present invention easy to understand, the present invention will be further described below in conjunction with specific implementation modes.

[0028] As Figures 1-7 shown, a six-degree-of-freedom industrial robot of the present invention includes a six-axis manipulator 1, a claw mounting plate assembly 2, a suction claw assembly 3, a transmission assembly 4 and a flipping assembly 5. The execution end of the six-axis manipulator 1 is installed with a claw mounting plate assembly 2. One end of the claw mounting plate assembly 2 is fixedly installed with a suction claw assembly 3. The other end of the claw mounting plate assembly 2 is cooperatively installed with a transmission assembly 4. One end of the transmission assembly 4 is cooperatively installed with a flipping assembly 5.

[0029] The claw mounting plate assembly 2 includes a claw mounting plate 21 fixed to the execution end of the six-axis manipulator 1 by bolts. An installation groove is opened at one end of the claw mounting plate 21, and the suction claw assembly 3 is fixed in the installation groove. A servo motor 22 is fixedly installed at the other end of the claw mounting plate 21, and the output end of the servo motor 22 is fixedly installed with a rotating shaft A 23. A fixed bearing seat A 25 is cooperatively installed on the outer wall of the rotating shaft A 23. A transmission gear 24 is fixedly installed at the other end of the rotating shaft A 23, and the transmission gear 24 and the transmission assembly 4 are a cooperative mechanism. The claw mounting plate 21 is fixed to the execution end of the six-axis manipulator 1. The six-axis manipulator 1 drives the entire claw to perform six-degree-of-freedom movement. Through the rotation of the servo motor 22, it is transmitted through the rotating shaft A 23 and the transmission gear 24 to drive the rotation of the transmission assembly 4 and the flipping of the flipping assembly 5.

[0030] The transmission component 4 includes a fixed mounting disk 41 fixed to one end of the gripper mounting plate assembly 2 by bolts. A fixed bearing seat B42 is fixedly installed on the inner wall of the fixed mounting disk 41. The fixed bearing seat B42 is sleeved on the outer wall of the turning arm rotating shaft 43. A gear groove is formed on the inner wall of the turning arm rotating shaft 43, and the gear groove meshes with the transmission gear 24. One end of the turning arm rotating shaft 43 is fixed with a turning arm assembly 46 by bolts. A turning transmission shaft 44 is arranged at the central position inside the turning arm rotating shaft 43, and one end of the turning transmission shaft 44 is fitted in the turning arm assembly 46. A fixed bearing seat C45 is fitted on the outer wall of the turning transmission shaft 44, and the fixed bearing seat C45 is fixedly installed on one end face of the turning arm assembly 46. A gear tooth is arranged at one end of the turning transmission shaft 44, and the gear tooth meshes with the transmission gear 24. The turning arm assembly 46 includes a turning arm housing 461 fixed to one end of the turning arm rotating shaft 43 by bolts. A rotating shaft 463 is rotatably fitted at one end inside the turning arm housing 461 through a bearing, and one end of the rotating shaft 463 is fitted with the turning transmission shaft 44 by a flat key. A pulley A462 is fixedly installed on the outer wall of the rotating shaft 463. A rotating shaft B55 is fitted at the other end inside the turning arm housing 461 through a bearing. A pulley B465 is fixedly installed on the outer wall of the rotating shaft B55, and the pulley B465 and the pulley A462 are connected by a transmission belt 464. The fixed mounting disk 41 is fixedly installed on one end face of the gripper mounting plate 21. The turning arm rotating shaft 43 is rotatably fitted with the fixed mounting disk 41 through the fixed bearing seat B42. The other end of the turning arm rotating shaft 43 is fixedly connected to the turning arm assembly 46. The transmission gear 24 rotates to drive the turning arm rotating shaft 43 meshing with it to rotate, thereby driving the turning arm assembly 46 to move. The turning transmission shaft 44 is rotatably fitted in the turning arm assembly 46 through the fixed bearing seat C45 fixed to one end of the turning arm assembly 46. One end of the turning transmission shaft 44 is connected to the rotating shaft 463 inside the turning arm assembly 46 by a flat key. The other end of the turning transmission shaft 44 meshes with the transmission gear 24, and the number of teeth of the turning transmission shaft 44 is half of the number of teeth of the turning arm rotating shaft 43. When the transmission gear 24 drives the turning arm rotating shaft 43 to rotate 90°, it drives the turning transmission shaft 44 to rotate 180°. The rotation of the turning transmission shaft 44 drives the pulley A462 fixed on the outer wall of the rotating shaft 463 to rotate. Through the transmission of the transmission belt 464, the pulley B465 rotates 180°, thereby driving the turning assembly 5 to turn.

[0031] The flipping assembly 5 includes a rotating shaft B55 rotatably fitted to one end of the transmission assembly 4. The other end of the rotating shaft B55 is fixedly installed with a flipping frame 51. At one end of the upper end face of the flipping frame 51 close to the rotating shaft 56, two air pipe connectors 54 are symmetrically arranged. The interior of the flipping frame 51 is provided with a sealed cavity A, and the air pipe connector 54 is connected to the cavity A. A plurality of support seats 52 are arranged at equal intervals in the middle position of the flipping frame 51. The upper end face of the support seat 52 is fixedly installed with a suction cup B53. The support seat 52 includes arc-shaped support plates 521 symmetrically arranged in the middle position of the flipping frame 51. One end of the symmetrically arranged arc-shaped support plates 521 is connected as a whole through a tension spring A522. The other end of the arc-shaped support plate 521 is connected to the side wall of the flipping frame 51 through a tension spring B523. A cavity B is arranged inside the arc-shaped support plate 521, and the cavity B is connected to the suction cup B53 through a round hole opened on the upper end face of the arc-shaped support plate 521. An elastic tube 524 is arranged between one end of the arc-shaped support plate 521 and the side wall of the flipping frame 51, and the elastic tube 524 communicates the cavity A and the cavity B. The six-axis robot 1 moves to the material receiving position, the flipping arm assembly 46 is in a horizontal state, and the suction cup B53 faces upward. The blank is placed on the support seat 52 by the blanking gripper of the previous station. The suction cup B53 sucks and holds the blank tightly by pneumatic means. Then it moves to the glazing tank to receive glaze. The extraction device in the glazing tank pumps part of the glaze liquid into the inner wall of the blank. Then the six-axis robot 1 drives the entire gripper to shake so that the glaze liquid covers the entire inner wall of the blank. During this process, the arc-shaped support plate 521 increases the amplitude under the action of the tension spring A522 and the tension spring B523, so that the glaze sloshing is quickly completed. After the glaze sloshing is completed, the servo motor 22 drives the flipping arm assembly 46 to rotate to a vertical state. During this process, the flipping assembly 5 adsorbed with the blank flips 180°, as Figure 7 shown, it moves to the glazing position, and then the suction gripper assembly 3 grabs the blank for glazing.

[0032] The suction claw assembly 3 includes a support plate A31 and a support plate B32, one end of which is fixed to the mounting groove opened in the gripper mounting plate 21 by bolts. Reinforcing ribs 33 are provided on the lower end surface of one end of the support plate A31 and the support plate B32 fixed to the gripper mounting plate 21. A pick-up cylinder 35 is fixedly installed at the middle position of the support plate A31, and the output end of the pick-up cylinder 35 penetrates through the support plate A31 and the support plate B32. A plurality of linear bearings 37 are equidistantly arranged on the support plate A31 and the support plate B32, and the linear bearings 37 corresponding to each other on the support plate A31 and the support plate B32 are concentric. A pick-up rod 36 is slidably fitted in the linear bearing 37. A suction cup A38 is adhered to the pick-up end of the pick-up rod 36. One end of the pick-up cylinder 35 penetrating through the support plate A31 and the support plate B32 is fixed with an immersion cylinder 39 by bolts. A connecting plate 34 is fixedly installed at the output end of the immersion cylinder 39. A plurality of pick-up rod mounting holes are opened in the connecting plate 34, and the pick-up rod 36 is fitted in the pick-up rod mounting holes. Fixed blocks are fixedly installed at the upper and lower ends of the pick-up rod mounting holes by bolts, and the fixed blocks are fixedly installed on the outer wall of the pick-up rod 36. When the blank moves to the glazing position, the pick-up cylinder extends to make the suction cup A38 contact the bottom of the blank to ventilate and grab the blank, and then the suction cup B53 releases the blank. The immersion cylinder 39 extends to make the blank move to the glazing position, and the six-axis manipulator 1 drives the gripper to glaze the blank so that the glaze liquid covers the outer surface of the blank.

[0033] Working principle:

[0034] Sloshing glazing process: During the sloshing process of the support seat 52 provided in the flipping assembly 5, the elastic forces of the tension spring A522 and the tension spring B523 increase the sloshing amplitude of the blank, so that the glaze liquid is quickly and evenly coated on the inner wall of the blank;

[0035] Moving process: While driving the transmission assembly 4 to rotate through the servo motor 22, the flipping assembly 5 is flipped. During operation, the transmission assembly 4 reciprocates between the material receiving position and the glazing position, and at the same time, the flipping assembly 5 drains the remaining glaze liquid in the blank after sloshing glazing;

[0036] Glazing process: The blank that has completed sloshing moves to the glazing position driven by the transmission assembly 4. At this time, the bottom of the blank faces upward. The blank is grabbed by the pick-up rod 36, and then the suction cup B53 that was originally adsorbed on the outer wall of the blank releases the blank. The immersion cylinder 39 extends to make the blank move to the glazing position and is driven by the six-axis manipulator 1 to complete glazing.

[0037] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above-described embodiments and the descriptions in the specification only illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and all such changes and improvements fall within the scope of the present invention claimed. The scope of the present invention claimed is defined by the appended claims and their equivalents.

Claims

1. A six-degree-of-freedom industrial robot, comprising a six-axis manipulator (1), a gripper mounting plate assembly (2), a suction gripper assembly (3), a transmission assembly (4), and a flipping assembly (5), characterized in that: The execution end of the six-axis manipulator (1) is equipped with a gripper mounting plate assembly (2). One end of the gripper mounting plate assembly (2) is fixedly installed with a suction gripper assembly (3), and the other end of the gripper mounting plate assembly (2) is fitted with a transmission assembly (4). One end of the transmission assembly (4) is fitted with a flipping assembly (5); The flipping assembly (5) includes a rotating shaft B (55) rotatably fitted at one end of the transmission assembly (4). The other end of the rotating shaft B (55) is fixedly installed with a flipping frame (51). At one end of the upper end face of the flipping frame (51) close to the rotating shaft (56), two air pipe connectors (54) are symmetrically arranged. At the middle position of the flipping frame (51), a plurality of support seats (52) are arranged at equal intervals. The upper end face of the support seat (52) is fixedly installed with a suction cup B (53); The transmission assembly (4) includes a fixed mounting disk (41) fixed to one end of the gripper mounting plate assembly (2) by bolts. The inner wall of the fixed mounting disk (41) is fixedly installed with a fixed bearing seat B (42). The fixed bearing seat B (42) is sleeved on the outer wall of the flipping arm rotating shaft (43). One end of the flipping arm rotating shaft (43) is fixed with a flipping arm assembly (46) by bolts. The inner center position of the flipping arm rotating shaft (43) is provided with a flipping transmission shaft (44). One end of the flipping transmission shaft (44) is fitted in the flipping arm assembly (46). A fixed bearing seat C (45) is fitted on the outer wall of the flipping transmission shaft (44), and the fixed bearing seat C (45) is fixedly installed on one end face of the flipping arm assembly (46); The gripper mounting plate assembly (2) includes a gripper mounting plate (21) fixed to the execution end of the six-axis manipulator (1) by bolts. An installation groove is formed at one end of the gripper mounting plate (21), and the suction gripper assembly (3) is fixed in the installation groove. A servo motor (22) is fixedly installed at the other end of the gripper mounting plate (21). The output end of the servo motor (22) is fixedly installed with a rotating shaft A (23). A fixed bearing seat A (25) is fitted on the outer wall of the rotating shaft A (23). The other end of the rotating shaft A (23) is fixedly installed with a transmission gear (24), and the transmission gear (24) and the transmission assembly (4) are a matching mechanism; The suction claw assembly (3) includes a support plate A (31) and a support plate B (32) whose one ends are fixed in the installation slots opened in the gripper mounting plate (21) by bolts. Reinforcing ribs (33) are provided on the lower end surfaces of the support plate A (31) and the support plate B (32) fixed to one end of the gripper mounting plate (21). A pick-up cylinder (35) is fixedly installed at the middle position of the support plate A (31), and the output end of the pick-up cylinder (35) penetrates through the support plate A (31) and the support plate B (32). A plurality of linear bearings (37) are equidistantly arranged on the support plate A (31) and the support plate B (32), and the linear bearings (37) corresponding to each other on the support plate A (31) and the support plate B (32) are concentric. A pick-up rod (36) is slidably fitted in the linear bearings (37). A suction cup A (38) is adhered to the pick-up end of the pick-up rod (36). One end of the pick-up cylinder (35) penetrating through the support plate A (31) and the support plate B (32) is fixed with an immersion cylinder (39) by bolts. A connecting plate (34) is fixedly installed at the output end of the immersion cylinder (39). A plurality of pick-up rod mounting holes are opened in the connecting plate (34), and the pick-up rod (36) is fitted in the pick-up rod mounting holes. Fixed blocks are fixedly installed at the upper and lower ends of the pick-up rod mounting holes by bolts, and the fixed blocks are fixedly installed on the outer wall of the pick-up rod (36). A sealed cavity A is provided inside the turning frame (51), and the air pipe joint (54) is connected to the cavity A. The support base (52) includes arc-shaped support plates (521) symmetrically arranged at the middle position of the turning frame (51). One ends of the symmetrically arranged arc-shaped support plates (521) are connected into a whole by a tension spring A (522). The other ends of the arc-shaped support plates (521) are connected to the side wall of the turning frame (51) by a tension spring B (523). A cavity B is provided inside the arc-shaped support plates (521), and the cavity B is connected to the suction cup B (53) through a round hole opened on the upper end surface of the arc-shaped support plates (521). An elastic tube (524) is provided between one end of the arc-shaped support plates (521) and the side wall of the turning frame (51), and the elastic tube (524) communicates the cavity A and the cavity B.

2. The six-degree-of-freedom industrial robot according to claim 1, characterized in that , The turning arm assembly (46) includes a turning arm housing (461) fixed to one end of the turning arm rotating shaft (43) by bolts. One end inside the turning arm housing (461) is rotatably fitted with a rotating shaft (463) through a bearing, and one end of the rotating shaft (463) is fitted with the turning transmission shaft (44) by a flat key. A pulley A (462) is fixedly installed on the outer wall of the rotating shaft (463). The other end inside the turning arm housing (461) is fitted with a rotating shaft B (55) through a bearing. A pulley B (465) is fixedly installed on the outer wall of the rotating shaft B (55), and the pulley B (465) and the pulley A (462) are connected by a transmission belt (464).

3. A six-degree-of-freedom industrial robot according to claim 1, characterized in that , A gear groove is opened on the inner wall of the turning arm rotating shaft (43), and the gear groove meshes with the transmission gear (24).

4. A six-degree-of-freedom industrial robot according to claim 1, characterized in that , One end of the flipping transmission shaft (44) is provided with gear teeth, and the gear teeth are engaged with the transmission gear (24).

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